Résumé
This paper deals with the static analysis of a robotic system consisting of a planar 3-degree-of-freedom cable-suspended parallel robot having a 3-degree-of-freedom serial manipulator on-board its mobile platform. A static equilibrium of this system is said to be feasible when the cable tensions lie within a prescribed set of admissible values. It is shown that a static equilibrium is feasible when the horizontal coordinate of the overall center of mass lies within an interval. A method to compute the bounds of this interval is presented.